CN108453697A - A kind of glass multidimensional mounting robot - Google Patents
A kind of glass multidimensional mounting robot Download PDFInfo
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- CN108453697A CN108453697A CN201810429906.3A CN201810429906A CN108453697A CN 108453697 A CN108453697 A CN 108453697A CN 201810429906 A CN201810429906 A CN 201810429906A CN 108453697 A CN108453697 A CN 108453697A
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- oil cylinder
- plate
- overturning
- telescopic
- translation
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- 239000011521 glass Substances 0.000 title claims abstract description 29
- 238000009434 installation Methods 0.000 claims abstract description 45
- 230000009975 flexible effect Effects 0.000 claims abstract description 10
- 238000013519 translation Methods 0.000 claims description 75
- 239000003351 stiffener Substances 0.000 claims description 20
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 230000007306 turnover Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 13
- 239000000463 material Substances 0.000 abstract description 11
- 238000000034 method Methods 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000013461 design Methods 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 230000000875 corresponding effect Effects 0.000 description 3
- 238000005034 decoration Methods 0.000 description 3
- 230000008450 motivation Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 241000252254 Catostomidae Species 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of glass multidimensional mounting robot, including various dimensions installation head, telescopic mechanical arm and rotation walking chassis；The various dimensions installation head is mounted in the telescopic mechanical arm；The telescopic mechanical arm is mounted in the rotation walking chassis；The various dimensions installation head includes sliding up and down unit, left-right rotation unit, overturning unit, rotating machine sets peace telephone-moving group；It is scientific and reasonable compact-sized in present invention design, the movement in 8 directions at least may be implemented, solve the problems, such as various dimensions, multi-angle installation and carry, make full use of coarse adjustment, fine tuning, reach that installation, handling process be efficient, flexible effect.It realizes crawl, carrying, the mechanization of installation and the assisted automated operation of large glass plank, improves large-sized sheet material installation quality, production efficiency and benefit, substantially save labour, reduce labor intensity, save construction cost.
Description
Technical field
The present invention relates to auxiliary robot and building decorative plates automation mounting technique field, especially a kind of glass is more
Tie up mounting robot.
Background technology
Plank originates from the solid wood board of carpenter, as making furniture or other living facilities, development in science and technology now
The definition of plank very extensively, has the plank of unlike material in Furniture manufacture, construction industry, processing industry etc..
Glass board material relies on outstanding translucency, and filters 70% or more ultraviolet light, heat resistance, winter resistance, corrosion-resistant, exhausted
The characteristics such as edge, dimensionally stable easy processing have one seat in construction timber.In whole building work progress, upfitter
Phase accounts for about the 40%-50% of whole durations, and in repairs profession, the installation of wall fitting plank is important component part, wall
The installation of body decoration, glass curtain wall, ceiling etc. belongs to plank installation.In the construction process, not only need scaffold etc. auxiliary
Facility is helped, and is even more there are enough installers to operate, causes installation process difficulty and labor intensity very big, makes
At claim for eot, or even the problems such as will appear accident.
Contemporary science and technology development is maked rapid progress, and robot replaces manually being increasingly becoming a kind of trend.Mechanical arm is a kind of energy
Certain holding functions of imitation human hand and arm are industrial machines to capture, carry the automatic pilot of object or operation instrument
One important branch of Xie Shou robots.In developed country, by manipulator applied to construction and decoration industry obtained it is certain at
Achievement reviews China in this respect, still in the more weak stage.Currently, the manipulator applied in construction and decoration field,
Although it is existing adapt to multi-angle installation, carry manipulator, be not met by solve angle it is more, it is multi-faceted installation, remove
The problem of fortune.
Invention content
In order to overcome the disadvantages mentioned above of the prior art, the object of the present invention is to provide a kind of glass multidimensional mounting robots.
The technical solution adopted by the present invention to solve the technical problems is：A kind of glass multidimensional mounting robot, wherein：Packet
Include various dimensions installation head, telescopic mechanical arm and rotation walking chassis；The various dimensions installation head is mounted on the telescopic machine
On tool arm；The telescopic mechanical arm is mounted in the rotation walking chassis；The various dimensions installation head includes sliding up and down
Unit, left-right rotation unit, overturning unit, rotating machine sets peace telephone-moving group.
As a further improvement on the present invention：The unit that slides up and down includes lifting frame plate, upper lower skateboard, slides up and down
Connecting plate before oil cylinder slides up and down frame gusset, slides up and down axle bed, slide up and down axis, slide up and down Upper shaft sleeve, slide up and down axis
Set limiting plate, linear bearing seat slide up and down oil cylinder, slide up and down connecting pin under oil cylinder, slide up and down connecting pin on oil cylinder；Institute
It states and slides up and down axle bed mounted on crane board bottom portion；The Upper shaft sleeve that slides up and down is mounted on the lifting frame plate top
Portion；The axle sleeve limiting plate that slides up and down is slided up and down on Upper shaft sleeve and is connect with the lifting frame plate mounted on described；It is described
It slides up and down oil cylinder bottom end and is connect with crane board bottom portion by sliding up and down connecting pin under oil cylinder；It is described to slide up and down oil
Cylinder top by slide up and down on oil cylinder connecting pin with it is described slide up and down oil cylinder before connecting plate connect；It is described to slide up and down oil cylinder
Preceding connecting plate and linear bearing seat are mounted on the upper lower skateboard；The axis that slides up and down slides up and down axis mounted on described
It set, linear bearing seat and slides up and down between axle bed.
As a further improvement on the present invention：The translation unit is solid including translation seat board, translation axis fixing plate, pan carriage
Fixed board, translation shaft, translated linear bearing holder (housing, cover), translation oil cylinder, translation oil cylinder piston rod, translation oil cylinder axle bed, translation oil cylinder head connect
Fishplate bar.Telescopic arm connecting plate, telescopic arm connecting plate stiffener plate；The translation shaft is mounted on the translated linear bearing holder (housing, cover),
Translation shaft both ends are connect with the translation axis fixing plate respectively；It is solid that the translated linear bearing holder (housing, cover) is separately mounted to the pan carriage
Fixed board upper and lower ends；The translation oil cylinder is mounted on by translation oil cylinder axle bed in the middle part of the pan carriage fixed plate；The translation
Cylinder piston rod is mounted on by translation oil cylinder head bolt on the translation oil cylinder head connecting plate；The translation oil cylinder head connecting plate
On the translation axis fixing plate；The translation axis fixing plate is mounted on the telescopic arm connecting plate；The telescopic arm
Connecting plate stiffener plate is separately connected translation axis fixing plate and telescopic arm connecting plate.
As a further improvement on the present invention：The overturning unit includes overturning frame plate, overturning frame plate stiffener plate, overturning
Before plate, overturning connecting plate, upset connecting rod connecting tube, upset connecting rod oil cylinder connecting plate, upset connecting rod stiffener plate, overturning oil cylinder
Axis, overturning oil cylinder axis, overturning oil cylinder mounting plate, overturning oil cylinder installation square tube, overturning oil cylinder mounting plate stiffener plate, overturning oil
Cylinder, overturning oil cylinder axle bed；The overturning frame plate is connect by overturning pivot pin with the translation axis fixing plate；On the overturning pivot pin
Equipped with overturning axle sleeve；The returning face plate both ends by overturn push rod fixed pin respectively with overturning frame plate, overturning connecting plate one end and
Upset connecting rod connecting tube connects；The overturning connecting plate other end is fixed by the overturning push rod fixed pin with the translation shaft
Plate connects；The overturning push rod fixed pin is equipped with overturning putter sleeve；The upset connecting rod oil cylinder connecting plate is mounted on described
In the middle part of upset connecting rod connecting tube；The upset connecting rod stiffener plate is separately connected the upset connecting rod connecting tube and upset connecting rod oil
Cylinder connecting plate；Pass through axis connection overturning oil cylinder before overturning oil cylinder on the upset connecting rod oil cylinder connecting plate；The overturning oil cylinder is logical
Overturning oil cylinder axis is crossed on overturning oil cylinder mounting plate；The overturning oil cylinder mounting plate is mounted on overturning oil cylinder and installs square tube
On；Overturning oil cylinder installation square tube both ends are connect with the translation axis fixing plate respectively；The overturning oil cylinder mounting plate is reinforced
Gusset is separately connected overturning oil cylinder installation square tube and overturning oil cylinder mounting plate.
As a further improvement on the present invention：The rotating machine sets include suction cup carrier rotating disk, suction cup carrier rotatable washer, rotation
Shaft, suction cup carrier connecting plate and suction cup carrier；The suction cup carrier rotating disk is connected by suction cup carrier rotatable washer and the upper lower skateboard
It connects；The suction cup carrier rotating disk is connect by suction cup carrier rotatable washer, suction cup carrier connecting plate and rotary shaft with suction cup carrier；The rotation
It is equipped in shaft into air parcel and air inlet block pressur plate；The air inlet block pressur plate is fixed on the suction cup carrier connection by described into air parcel
On plate；The suction cup carrier includes girder square tube, secondary girder bar, auxiliary girder bar and multiple suckers；The girder square tube, secondary girder bar and
Sucker sliding sleeve square tube is respectively arranged on auxiliary girder bar；It is provided with sucker rod set, sucking disk bar and cylinder in the sucker sliding sleeve square tube
Spiral compression spring；The sucker is put on by sucking disk bar mounted on sucking disk bar；The cylindroid helical-coil compression spring is set to institute
It states between sucker rod set and sucking disk bar.
As a further improvement on the present invention：The left-right rotation unit includes sliding up and down frame rotating disk, sliding up and down
Frame shaft, deflection Upper shaft sleeve；The frame rotating disk that slides up and down is mounted on rollover stand board bottom portion；The frame that slides up and down turns
Axis is mounted at the top of overturning frame plate；The frame shaft that slides up and down is by deflecting the Upper shaft sleeve connection lifting frame plate.
As a further improvement on the present invention：The telescopic mechanical arm include the telescopic mechanical arm include fixed beam slab,
Vertical beam plate, fixed beam flap, lifting cylinder, lifting cylinder connecting rod and lifting cylinder mounting plate；The fixed beam slab is hinged on
On the fixed beam flap；The fixed beam flap holds with the vertical beam board shaft and connect；Described lifting cylinder one end passes through
Lifting cylinder connecting rod holds with the vertical beam board shaft and connect, and the lifting cylinder other end passes through lifting cylinder mounting plate and the fixed beam
Plate connects；The fixed beam intralamellar part is separately installed with the first telescopic movable arm, the second telescopic movable arm and third from inside to outside
Telescopic movable arm；The fixed beam slab top is separately installed with the first telescopic oil cylinder, the second telescopic oil cylinder and third telescopic oil cylinder；
First telescopic oil cylinder is connect with the first telescopic movable arm；Second telescopic oil cylinder and the second telescopic movable arm
Connection；The third telescopic oil cylinder is connect with the third telescopic movable arm.
As a further improvement on the present invention：Hoist engine, long angular transducer and pressure are also equipped on the fixed beam slab
Force snesor.
As a further improvement on the present invention：The rotation walking chassis include revolution driving chassis, revolution driving turntable,
Crawler body, valve member case, engine case, device case, rotation seat board and support leg；The revolution driving chassis and the track bottom
Disk is connected by chassis connecting plate；The revolution driving turntable is mounted on the revolution driving chassis；The device case passes through
The rotation seat board is mounted on the revolution driving turntable；The engine case is separately mounted to the shoe with the valve member case
On band chassis rear and front end.
As a further improvement on the present invention：The device case side wall is equipped with Torque Control display, the device case
Inside is equipped with PLC integrated circuits control mainboard and wireless receiver；The rotation seat board is additionally provided with clump weight；The valve member
Valve member control panel is provided on case；Petrol engine is installed in the engine case.
As a further improvement on the present invention：The robot of the installation glass board material further includes vacuum system and hydraulic pressure system
System；The vacuum system and hydraulic system are connect with the petrol engine respectively；The vacuum system by vacuum pipe with
Solenoid valve constitutes vacuum loop and provides suction to the sucker；The hydraulic system constitutes liquid by PVC oil pipes and solenoid valve
Push back road and respectively to sliding up and down oil cylinder, translation oil cylinder, overturning oil cylinder, lifting cylinder, support leg, the first telescopic oil cylinder, the
Two telescopic oil cylinders and third telescopic oil cylinder provide driving power.
Compared with prior art, the beneficial effects of the invention are as follows：It is scientific and reasonable compact-sized on overall design, it may be implemented
Function is carried in the installation in more perspective and orientation, and specific implementation is：By telescopic mechanical arm realize head entirety rising,
Decline, stretching, extension and retraction movement, telescopic mechanical arm are set there are three telescopic oil cylinder, can be specifically chosen and be stretched according to real work situation
Contracting length, achievees the purpose that multi-stage expansion；The facing upward of head, movement of bowing are realized by overturning unit；By sliding up and down unit, a left side
Right-hand rotation motivation group, rotating machine sets peace telephone-moving group realize that the vertical upper and lower directions of suction cup carrier, left and right sides turn, 360 ° of revolutions and left and right are put down
The movement in 8 directions at least may be implemented in the movement of shifting, the present invention, solves the problems, such as various dimensions, multi-angle installation and carries, fills
Point using coarse adjustment, fine tuning, reach that installation, handling process be efficient, flexible effect.Realize the crawl of large glass plank, carrying,
The mechanization of installation and assisted automated operation improve large-sized sheet material installation quality, production efficiency and benefit, substantially save labour
Power reduces labor intensity, saves construction cost.Scaffold and dismounting ancillary equipment need not be set up, construction technology is simple, construction
Environment optimization, working security are high.
Description of the drawings
Fig. 1 is right view of the present invention；
Fig. 2 is dimensional structure diagram of the present invention；
Fig. 3 is left view of the present invention；
Fig. 4 is front view of the present invention；
Fig. 5 is that various dimensions of the present invention install head and suction cup carrier structural schematic diagram；
Fig. 6 is that various dimensions of the present invention install handpiece structure schematic diagram；
Fig. 7 is that various dimensions of the present invention install handpiece structure schematic diagram；
Fig. 8 is wireless receiver structural schematic diagram of the present invention.
Specific implementation mode
In conjunction with description of the drawings, the present invention is further described with embodiment：If it is to be appreciated that having in the embodiment of the present invention
It is related to directionality instruction (such as up, down, left, right, before and after, top, end ...), then directionality instruction is only used for explaining
Relative position relation, motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if the specific appearance
When state changes, then directionality instruction also correspondingly changes correspondingly.If in addition, relating to " in the embodiment of the present invention
One ", the description of " second " etc., then should the description of " first ", " second " etc. be used for description purposes only, and should not be understood as instruction or
It implies its relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " are defined as a result,
Feature can explicitly or implicitly include at least one of the features.
Such as Fig. 1 to Fig. 8, a kind of glass multidimensional mounting robot, wherein：Including various dimensions installation head 100, flexible machinery
Arm 200 and rotation walking chassis 300；The various dimensions installation head 100 is mounted in the telescopic mechanical arm 200；It is described to stretch
Contracting mechanical arm 200 is mounted in the rotation walking chassis 300；The various dimensions installation head includes sliding up and down unit, a left side
Right-hand rotation motivation group, overturning unit, rotating machine sets peace telephone-moving group.
It is described slide up and down unit include lifting frame plate 101, upper lower skateboard 102, slide up and down connecting plate 143 before oil cylinder,
Frame gusset is slided up and down, axle bed 105 is slided up and down, slides up and down axis 107, slide up and down Upper shaft sleeve 109, slide up and down axle sleeve limit
Position plate 108, linear bearing seat 142 slide up and down oil cylinder 117, slide up and down connecting pin under oil cylinder, sliding up and down and connected on oil cylinder
Pin；The axle bed 105 that slides up and down is mounted on the crane board bottom 101；The Upper shaft sleeve 109 that slides up and down is mounted on institute
State 101 top of lifting frame plate；It is described slide up and down axle sleeve limiting plate 108 be mounted on it is described slide up and down on Upper shaft sleeve 109 and with
The lifting frame plate 101 connects；117 bottom end of oil cylinder that slides up and down is by sliding up and down connecting pin and the lifting under oil cylinder
101 bottom of frame plate connects；It is described to slide up and down 117 top of oil cylinder and slided up and down with described by sliding up and down connecting pin on oil cylinder
Connecting plate 143 connects before oil cylinder；It is described slide up and down connecting plate 143 and linear bearing seat 142 before oil cylinder be mounted on it is described up and down
On slide plate；The axis 107 that slides up and down slides up and down Upper shaft sleeve 109, linear bearing seat 142 and slides up and down axis mounted on described
Between seat 105.Power is provided by the oil cylinder that slides up and down, the axis that slides up and down is sliding up and down axle bed, sliding up and down
Linear motion, realization various dimensions fitting machine head drive the work(that suction cup carrier moves up and down up and down between Upper shaft sleeve and linear bearing seat
Energy.
The translation unit includes translation seat board 120, translation axis fixing plate 121, pan carriage fixed plate 144, translation shaft
118, translated linear bearing holder (housing, cover) 145, translation oil cylinder 115, translation oil cylinder piston rod, translation oil cylinder axle bed 131, translation oil cylinder head connect
Fishplate bar 146.Telescopic arm connecting plate 119, telescopic arm connecting plate stiffener plate；The translation shaft 118 is mounted on the translated linear
On bearing holder (housing, cover) 131,118 both ends of translation shaft are connect with the translation axis fixing plate 121 respectively；The translated linear bearing holder (housing, cover) 145
It is separately mounted to 144 upper and lower ends of pan carriage fixed plate；The translation oil cylinder 115 is installed by translation oil cylinder axle bed 131
At 144 middle part of the pan carriage fixed plate；The translation oil cylinder piston rod is mounted on the translation by translation oil cylinder head bolt
On oil cylinder head connecting plate 146；The translation oil cylinder head connecting plate 146 is mounted on the translation axis fixing plate 121；The translation
Axis fixing plate 121 is mounted on the telescopic arm connecting plate 119；The telescopic arm connecting plate stiffener plate is separately connected translation shaft
Fixed plate 121 and telescopic arm connecting plate 119.Power is provided by the translation oil cylinder, the translation shaft is in translated linear bearing
Translational motion is done between set and translation oil cylinder axle bed, realizes that various dimensions fitting machine head drives the work(of suction cup carrier or so translational motion
Energy.
The overturning unit include overturning frame plate 123, overturning frame plate stiffener plate, returning face plate 125, overturning connecting plate 127,
Upset connecting rod connecting tube 110, upset connecting rod oil cylinder connecting plate 126, upset connecting rod stiffener plate, overturning oil cylinder front axle 147, overturning
Oil cylinder 129, overturning oil cylinder mounting plate 130, overturning oil cylinder installation square tube 122, overturning oil cylinder mounting plate stiffener plate, overturning oil cylinder
Axle bed 128；The overturning frame plate 123 is connect by overturning pivot pin 114 with the translation axis fixing plate 121；The overturning pivot pin
114 are equipped with overturning axle sleeve；125 both ends of the returning face plate by overturn push rod fixed pin 111 respectively with overturning frame plate 123, turn over
Turn 127 one end of connecting plate and upset connecting rod connecting tube 110 connects；127 other end of overturning connecting plate is pushed away by the overturning
Bar fixed pin 111 is connect with the translation axis fixing plate 121；The overturning push rod fixed pin 111 is equipped with overturning putter sleeve；
The upset connecting rod oil cylinder connecting plate 126 is mounted on 110 middle part of the upset connecting rod connecting tube；The upset connecting rod stiffener plate
It is separately connected the upset connecting rod connecting tube and upset connecting rod oil cylinder connecting plate；Lead on the upset connecting rod oil cylinder connecting plate 126
It crosses overturning oil cylinder front axle 147 and connects overturning oil cylinder 129；The overturning oil cylinder 129 is mounted on overturning oil cylinder by overturning oil cylinder axis
On mounting plate 130；The overturning oil cylinder mounting plate 130 is mounted in overturning oil cylinder installation square tube 122；The overturning oil cylinder installation
122 both ends of square tube are connect with the translation axis fixing plate 121 respectively；The overturning oil cylinder mounting plate stiffener plate, which is separately connected, to be turned over
Turn oil cylinder installation square tube and overturning oil cylinder mounting plate 130.Power is provided by the overturning oil cylinder, returning face plate, overturning is driven to connect
Fishplate bar rotate, realize realize various dimensions fitting machine head drive suction cup carrier face upward, the function for movement of bowing.
The rotating machine sets include suction cup carrier rotating disk 124, suction cup carrier rotatable washer, rotary shaft, suction cup carrier connecting plate 132
And suction cup carrier；The suction cup carrier rotating disk 124 is connect by suction cup carrier rotatable washer with the upper lower skateboard 102；The sucker
Frame rotating disk 124 is connect by suction cup carrier rotatable washer, suction cup carrier connecting plate 132 and rotary shaft with suction cup carrier；The rotary shaft
On be equipped with into air parcel 140 and air inlet block pressur plate 141；The air inlet block pressur plate 141 is fixed on the suction by described into air parcel 140
On plate rail connecting plate 132；The suction cup carrier includes girder square tube 134, secondary girder bar 135, auxiliary girder bar 133 and multiple suckers 139；
It is respectively arranged with sucker sliding sleeve square tube 138 on the girder square tube 134, secondary girder bar 135 and auxiliary girder bar 133；The sucker is slided
138 are provided with sucker rod set 148, sucking disk bar 136 and cylindroid helical-coil compression spring 137 in set square tube；The sucker 139 passes through suction
Disk bar 136 is mounted in sucker rod set 148；The cylindroid helical-coil compression spring 137 is set to the sucker rod set 148 and sucker
Between bar 137.The rotating machine sets realize that various dimensions fitting machine head drives the function of 360 ° of rotations of suction cup carrier.
The left-right rotation unit includes sliding up and down frame rotating disk 116, sliding up and down frame shaft 149, deflection Upper shaft sleeve；
The frame rotating disk peace 116 that slides up and down is mounted in 123 bottom of overturning frame plate；The frame shaft 149 that slides up and down is mounted on
Overturn 123 top of frame plate；The frame shaft 149 that slides up and down connects the lifting frame plate 101 by deflection Upper shaft sleeve.By upper
The driving of lower carriage rotating disk and frame shaft is slided up and down, realizes the work(that various dimensions fitting machine head drives suction cup carrier left and right sides to turn
Energy.
The telescopic mechanical arm includes that the telescopic mechanical arm includes fixed beam slab 201, vertical beam plate 203, fixed beam hinge
Plate 202, lifting cylinder 205, lifting cylinder connecting rod 204 and lifting cylinder mounting plate 216；The fixed beam slab 201 is hinged on institute
It states on fixed beam flap 202；The fixed beam flap 202 holds with the vertical beam board shaft and connect；The lifting cylinder 20 1
End, which is held by lifting cylinder connecting rod 204 with the vertical beam board shaft, to be connect, and 204 other end of lifting cylinder passes through lifting cylinder mounting plate
216 connect with the fixed beam slab 201；The first telescopic movable arm is separately installed with inside the fixed beam slab 201 from inside to outside
212, the second telescopic movable arm 213 and third telescopic movable arm 214；201 top of fixed beam slab is separately installed with first and stretches
Contracting oil cylinder 208, the second telescopic oil cylinder 207 and third telescopic oil cylinder 206；First telescopic oil cylinder 208 is flexible with described first
Lever arm 212 connects；Second telescopic oil cylinder 207 is connect with the second telescopic movable arm 213；The third telescopic oil cylinder
206 connect with the third telescopic movable arm 206.Up and down, stretching, extension and the contracting of head entirety are realized by telescopic mechanical arm
Backhaul dynamic, telescopic mechanical arm is set there are three telescopic oil cylinder, can be specifically chosen collapsing length according to real work situation, be reached more
The flexible purpose of grade.
Hoist engine 209, long angular transducer 215 and pressure sensor are also equipped on the fixed beam slab.The present invention's
Various dimensions installation head can be dismantled, and loop wheel machine head or other tools are replaced in the telescopic mechanical arm, pass through the hoist engine
Robot is allowed to realize loop wheel machine or the function of other tools；The long angular transducer is used to detect the flexible length of telescopic mechanical arm
The angle of degree and up and down；The pressure sensor is used to detect the weight of telescopic mechanical arm load.
The rotation walking chassis includes revolution driving chassis 304, revolution driving turntable 311, crawler body 309, valve member
Case 307, engine case 302, device case 308, rotation seat board 306 and support leg 305；The revolution driving chassis 304 with it is described
Crawler body 309 is connected by chassis connecting plate；The revolution driving turntable 311 is mounted on the revolution driving chassis 304；
The device case 308 is mounted on by the rotation seat board 306 on the revolution driving turntable 311；The engine case 302 with
The valve member case 307 is separately mounted on 309 rear and front end of the crawler body.Using crawler type power plant, past can appoint
Meaning direction rotates and has certain cross-country ability, is suitable for various varying environments.
308 side wall of device case is equipped with Torque Control display 310, and the Torque Control display 310 is for showing
The load data for showing machine man-hour, when robot overloads, Torque Control display can show wrong load information,
And connect alarm equipment alarm simultaneously robot be stopped.PLC integrated circuit control mainboards are installed inside the device case
With wireless receiver 211；The rotation seat board 306 is additionally provided with clump weight 210；It is provided with valve member control plane on the valve member case
Plate 301；The valve member control panel 301 is provided with operating lever and control button.Gasoline hair is installed in the engine case 302
Motivation 303.Wireless receiver 211 is used to receive the signal of Digiplex transmitting, and control information is transferred to the integrated electricity of PLC
Road control mainboard makes corresponding actions or movement according to the control information control robot of transmitting signal.
The vacuum system and hydraulic system are connect with the petrol engine respectively；The vacuum system passes through vacuum tube
Road constitutes vacuum loop with solenoid valve and provides suction to the sucker；The hydraulic system passes through PVC oil pipes and solenoid valve structure
It gives at hydraulic circuit and respectively and slides up and down oil cylinder, translation oil cylinder, overturning oil cylinder, lifting cylinder, support leg, the first flexible oil
Cylinder, the second telescopic oil cylinder and third telescopic oil cylinder provide driving power.
Operation principle of the present invention：Startup power supply emits wireless signal by external Digiplex, and wireless receiver is used
PLC integrated circuit control mainboards are transferred in the signal for receiving Digiplex transmitting, and by control information, according to transmitting signal
Control information control robot make corresponding actions or movement, or the operating lever passed through on valve member control panel controls entire machine
The action or movement of device people, petrol engine works provides driving power to entire robot, and rotation walking chassis uses crawler belt
Formula power plant, robotically-driven traveling to working position install the overturning oil in the overturning unit of head setting by various dimensions
Cylinder provide power, drive returning face plate and overturning connecting plate rotation, various dimensions fitting machine head drive suction cup carrier realize to face upward or to
The movement of nutation adjusts the pitch angle of the head and suction cup carrier and draws glass board material convenient for the sucker in suction cup carrier, by true
Empty set unite gives sucker provide suction, sucker draw glass board material after, by telescopic mechanical arm realize head entirety rising, under
Drop, stretching, extension and retraction movement, telescopic mechanical arm are set there are three telescopic oil cylinder, and flexible machinery can be adjusted according to real work situation
The collapsing length of arm adjusts glass board material to be installed to position to be installed, above and below control various dimensions installation head
It slides unit, left-right rotation unit, rotating machine sets peace telephone-moving group and realizes the vertical upper and lower directions adjustment of suction cup carrier, left and right sides modulation
The adjustment at least eight directions such as whole, rotation adjustment, left and right translation adjustment, glass board material to be installed is adjusted to best peace
Holding position is installed convenient for glass board material.It solves the problems, such as various dimensions, multi-angle installation and carries, make full use of coarse adjustment, fine tuning,
Reach that installation, handling process be efficient, flexible effect.Realize the crawl of large glass plank, carrying, the mechanization of installation and auxiliary
Automated job is helped, large-sized sheet material installation quality, production efficiency and benefit are improved, substantially saves labour, reduces labor intensity,
Save construction cost.Scaffold and dismounting ancillary equipment need not be set up, construction technology is simple, construction environment optimization, construction peace
Quan Xinggao.
In conclusion after those skilled in the art read file of the present invention, according to the technique and scheme of the present invention with
Technical concept is not necessarily to creative mental labour and makes other various corresponding conversion schemes, belongs to the model that the present invention is protected
It encloses.
Claims (11)
1. a kind of glass multidimensional mounting robot, it is characterised in that：Including various dimensions installation head, telescopic mechanical arm and rotation row
Walk chassis；The various dimensions installation head is mounted in the telescopic mechanical arm；The telescopic mechanical arm is mounted on the rotation
In walking chassis；The various dimensions installation head includes sliding up and down unit, left-right rotation unit, overturning unit, rotating machine sets
Peaceful telephone-moving group.
2. a kind of glass multidimensional mounting robot according to claim 1, it is characterised in that：It is described to slide up and down unit packet
Lifting frame plate, upper lower skateboard are included, connecting plate before oil cylinder is slided up and down, slides up and down frame gusset, slide up and down axle bed, slide up and down
Axis, slide up and down Upper shaft sleeve, slide up and down axle sleeve limiting plate, linear bearing seat, slide up and down oil cylinder, slide up and down oil cylinder under connect
Outbound slides up and down connecting pin on oil cylinder；The axle bed that slides up and down is mounted on crane board bottom portion；It is described to slide up and down
Upper shaft sleeve is mounted at the top of the lifting frame plate；The axle sleeve limiting plate that slides up and down is mounted on described slide up and down on Upper shaft sleeve
And it is connect with the lifting frame plate；The oil cylinder bottom end that slides up and down is by sliding up and down connecting pin and the crane under oil cylinder
Board bottom portion connects；It is described slide up and down oil cylinder top by slide up and down on oil cylinder connecting pin with it is described slide up and down oil cylinder before connect
Fishplate bar connects；It is described to slide up and down connecting plate and linear bearing seat before oil cylinder and be mounted on the upper lower skateboard；The upper downslide
Moving axis, which is mounted on, described to be slided up and down Upper shaft sleeve, linear bearing seat and slides up and down between axle bed.
3. a kind of glass multidimensional mounting robot according to claim 1, it is characterised in that：The translation unit includes flat
Move seat board, translation axis fixing plate, pan carriage fixed plate, translation shaft, translated linear bearing holder (housing, cover), translation oil cylinder, translation oil cylinder piston
Bar, translation oil cylinder axle bed, translation oil cylinder head connecting plate, telescopic arm connecting plate, telescopic arm connecting plate stiffener plate；The translation shaft
On the translated linear bearing holder (housing, cover), translation shaft both ends are connect with the translation axis fixing plate respectively；The translated linear
Bearing holder (housing, cover) is separately mounted to the pan carriage fixed plate upper and lower ends；The translation oil cylinder is mounted on institute by translation oil cylinder axle bed
It states in the middle part of pan carriage fixed plate；The translation oil cylinder piston rod is connected by translation oil cylinder head bolt mounted on the translation oil cylinder head
On fishplate bar；The translation oil cylinder head connecting plate is mounted on the translation axis fixing plate；The translation axis fixing plate is mounted on institute
It states on telescopic arm connecting plate；The telescopic arm connecting plate stiffener plate is separately connected translation axis fixing plate and telescopic arm connecting plate.
4. a kind of glass multidimensional mounting robot according to claim 1, it is characterised in that：The overturning unit includes turning over
Turret plate, overturning frame plate stiffener plate, returning face plate, overturning connecting plate, upset connecting rod connecting tube, upset connecting rod oil cylinder connecting plate,
Upset connecting rod stiffener plate, overturning oil cylinder front axle, overturning oil cylinder axis, overturning oil cylinder mounting plate, overturning oil cylinder installation square tube, overturning
Oil cylinder mounting plate stiffener plate, overturning oil cylinder, overturning oil cylinder axle bed；The overturning frame plate is by overturning pivot pin and the translation shaft
Fixed plate connects；The overturning pivot pin is equipped with overturning axle sleeve；The returning face plate both ends by overturn push rod fixed pin respectively with
Overturning frame plate, overturning connecting plate one end are connected with upset connecting rod connecting tube；The overturning connecting plate other end passes through the overturning
Push rod fixed pin is connect with the translation axis fixing plate；The overturning push rod fixed pin is equipped with overturning putter sleeve；It is described to turn over
Turn connecting rod oil cylinder connecting plate in the middle part of the upset connecting rod connecting tube；The upset connecting rod stiffener plate is separately connected described
Upset connecting rod connecting tube and upset connecting rod oil cylinder connecting plate；Connected by overturning oil cylinder front axle on the upset connecting rod oil cylinder connecting plate
Connect overturning oil cylinder；The overturning oil cylinder is mounted on by overturning oil cylinder axis on overturning oil cylinder mounting plate；The overturning oil cylinder installation
Plate is mounted in overturning oil cylinder installation square tube；Overturning oil cylinder installation square tube both ends connect with the translation axis fixing plate respectively
It connects；The overturning oil cylinder mounting plate stiffener plate is separately connected overturning oil cylinder installation square tube and overturning oil cylinder mounting plate.
5. a kind of glass multidimensional mounting robot according to claim 1, it is characterised in that：The rotating machine sets include inhaling
Plate rail rotating disk, suction cup carrier rotatable washer, rotary shaft, suction cup carrier connecting plate and suction cup carrier；The suction cup carrier rotating disk passes through suction
Plate rail rotatable washer is connect with the upper lower skateboard；The suction cup carrier rotating disk is connected by suction cup carrier rotatable washer, suction cup carrier
Plate and rotary shaft are connect with suction cup carrier；It is equipped in the rotary shaft into air parcel and air inlet block pressur plate；The air inlet block pressur plate will
It is described to be fixed on the suction cup carrier connecting plate into air parcel；The suction cup carrier includes girder square tube, secondary girder bar, auxiliary girder bar and more
A sucker；It is respectively arranged with sucker sliding sleeve square tube on the girder square tube, secondary girder bar and auxiliary girder bar；The sucker sliding sleeve square tube
On be provided with sucker rod set, sucking disk bar and cylindroid helical-coil compression spring；The sucker is put on by sucking disk bar mounted on sucking disk bar；
The cylindroid helical-coil compression spring is set between the sucker rod set and sucking disk bar.
6. a kind of glass multidimensional mounting robot according to claim 1, it is characterised in that：The left-right rotation unit packet
It includes and slides up and down frame rotating disk, slides up and down frame shaft, deflection Upper shaft sleeve；The frame rotating disk that slides up and down is mounted on described turn over
Turret plate bottom；The frame shaft that slides up and down is mounted at the top of overturning frame plate；The frame shaft that slides up and down passes through in deflection
Axle sleeve connects the lifting frame plate.
7. a kind of glass multidimensional mounting robot according to claim 1, it is characterised in that：The telescopic mechanical arm includes
The telescopic mechanical arm includes fixed beam slab, vertical beam plate, fixed beam flap, lifting cylinder, lifting cylinder connecting rod and lifting oil
Cylinder mounting plate；The fixed beam slab is hinged on the fixed beam flap；The fixed beam flap and the vertical beam board shaft
Hold connection；Described lifting cylinder one end is held with the vertical beam board shaft by lifting cylinder connecting rod and is connect, and the lifting cylinder other end is logical
Lifting cylinder mounting plate is crossed to connect with the fixed beam slab；It is flexible that the fixed beam intralamellar part is separately installed with first from inside to outside
Lever arm, the second telescopic movable arm and third telescopic movable arm；The fixed beam slab top be separately installed with the first telescopic oil cylinder,
Second telescopic oil cylinder and third telescopic oil cylinder；First telescopic oil cylinder is connect with the first telescopic movable arm；Described second
Telescopic oil cylinder is connect with the second telescopic movable arm；The third telescopic oil cylinder is connect with the third telescopic movable arm.
8. a kind of glass multidimensional mounting robot according to claim 7, it is characterised in that：Also pacify on the fixed beam slab
Equipped with hoist engine, long angular transducer and pressure sensor.
9. a kind of glass multidimensional mounting robot according to claim 1, it is characterised in that：The rotation walking chassis packet
Include revolution driving chassis, revolution driving turntable, crawler body, valve member case, engine case, device case, rotation seat board and support leg；
The revolution driving chassis is connect with the crawler body by chassis connecting plate；The revolution driving turntable is mounted on described return
Turn on driving chassis；The device case is mounted on by the rotation seat board on the revolution driving turntable；The engine case
It is separately mounted on the crawler body rear and front end with the valve member case.
10. a kind of glass multidimensional mounting robot according to claim 9, it is characterised in that：The device case side wall peace
Equipped with Torque Control display, PLC integrated circuits control mainboard and wireless receiver are installed inside the device case；The rotation
Swivel base plate is additionally provided with clump weight；It is provided with valve member control panel on the valve member case；Gasoline is installed in the engine case
Engine.
11. according to a kind of glass multidimensional mounting robot of claim 1-10 any one of them, it is characterised in that：Further include true
Empty set is united and hydraulic system；The vacuum system and hydraulic system are connect with the petrol engine respectively；The vacuum system
Vacuum loop is constituted by vacuum pipe and solenoid valve and provides suction to the sucker；The hydraulic system passes through PVC oil pipes
Hydraulic circuit is constituted with solenoid valve and respectively to sliding up and down oil cylinder, translation oil cylinder, overturning oil cylinder, lifting cylinder, support leg, the
One telescopic oil cylinder, the second telescopic oil cylinder and third telescopic oil cylinder provide driving power.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810429906.3A CN108453697B (en) | 2018-05-08 | 2018-05-08 | Glass multidimensional installation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810429906.3A CN108453697B (en) | 2018-05-08 | 2018-05-08 | Glass multidimensional installation robot |
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| CN108453697A true CN108453697A (en) | 2018-08-28 |
| CN108453697B CN108453697B (en) | 2024-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109160284A (en) * | 2018-09-10 | 2019-01-08 | 许昌富华玻璃有限公司 | A kind of glass feeding device |
| CN109249417A (en) * | 2018-09-26 | 2019-01-22 | 重庆元谱机器人技术有限公司 | Skylight grabbing device |
| CN109676586A (en) * | 2018-12-29 | 2019-04-26 | 镇江高等职业技术学校 | A kind of space that air pump is telescopic overturning crawl walking robot |
| CN110193847A (en) * | 2019-06-06 | 2019-09-03 | 广东博智林机器人有限公司 | The clamping device of robot |
| CN110757121A (en) * | 2019-10-22 | 2020-02-07 | 杭州承扬自动化科技有限公司 | Installation line suitable for installation of large glass |
| CN111083376A (en) * | 2019-12-30 | 2020-04-28 | 广东博智林机器人有限公司 | Method, system and device for determining installation position of target object and electronic equipment |
| EP3643589A1 (en) * | 2018-10-22 | 2020-04-29 | Industriparken 1, Bredsten ApS | A self-propelled lifting machine |
| CN111362158A (en) * | 2020-03-24 | 2020-07-03 | 广州江河幕墙***工程有限公司 | Multifunctional all-in-one machine for hoisting, rotating, swinging and installing glass |
| CN111977575A (en) * | 2020-09-27 | 2020-11-24 | 浙江鼎力机械股份有限公司 | Glass mounting and adjusting device suitable for aerial work platform truck |
| CN111994806A (en) * | 2020-09-27 | 2020-11-27 | 浙江鼎力机械股份有限公司 | Aerial working platform car for glass installation |
| CN112301903A (en) * | 2020-10-30 | 2021-02-02 | 徐州徐工随车起重机有限公司 | A speed reduction strip winding and unwinding devices for road seals way temporarily |
| CN113580060A (en) * | 2021-07-30 | 2021-11-02 | 西安热工研究院有限公司 | Photovoltaic module installs arm |
| CN113306281B (en) * | 2021-04-15 | 2023-03-10 | 青岛海佰利机械有限公司 | Full-automatic printing system and assembly |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109160284A (en) * | 2018-09-10 | 2019-01-08 | 许昌富华玻璃有限公司 | A kind of glass feeding device |
| CN109249417A (en) * | 2018-09-26 | 2019-01-22 | 重庆元谱机器人技术有限公司 | Skylight grabbing device |
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| CN110757121A (en) * | 2019-10-22 | 2020-02-07 | 杭州承扬自动化科技有限公司 | Installation line suitable for installation of large glass |
| CN111083376A (en) * | 2019-12-30 | 2020-04-28 | 广东博智林机器人有限公司 | Method, system and device for determining installation position of target object and electronic equipment |
| CN111083376B (en) * | 2019-12-30 | 2021-07-23 | 广东博智林机器人有限公司 | Method, system and device for determining installation position of target object and electronic equipment |
| CN111362158A (en) * | 2020-03-24 | 2020-07-03 | 广州江河幕墙***工程有限公司 | Multifunctional all-in-one machine for hoisting, rotating, swinging and installing glass |
| CN111977575A (en) * | 2020-09-27 | 2020-11-24 | 浙江鼎力机械股份有限公司 | Glass mounting and adjusting device suitable for aerial work platform truck |
| CN111994806A (en) * | 2020-09-27 | 2020-11-27 | 浙江鼎力机械股份有限公司 | Aerial working platform car for glass installation |
| CN112301903A (en) * | 2020-10-30 | 2021-02-02 | 徐州徐工随车起重机有限公司 | A speed reduction strip winding and unwinding devices for road seals way temporarily |
| CN113306281B (en) * | 2021-04-15 | 2023-03-10 | 青岛海佰利机械有限公司 | Full-automatic printing system and assembly |
| CN113580060A (en) * | 2021-07-30 | 2021-11-02 | 西安热工研究院有限公司 | Photovoltaic module installs arm |
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